US5166593A - Closed-loop torque feedback for a universal field-oriented controller - Google Patents

Closed-loop torque feedback for a universal field-oriented controller Download PDF

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Publication number
US5166593A
US5166593A US07/769,693 US76969391A US5166593A US 5166593 A US5166593 A US 5166593A US 76969391 A US76969391 A US 76969391A US 5166593 A US5166593 A US 5166593A
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Prior art keywords
torque
flux
current
sensed
stator
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Expired - Fee Related
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US07/769,693
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English (en)
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Rik W. A. A. De Doncker
Robert D. King
Peter C. Sanza
Kenneth B. Haefner
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General Electric Co
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General Electric Co
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Assigned to GENERAL ELECTRIC COMPANY reassignment GENERAL ELECTRIC COMPANY ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: DE DONCKER, RIK W. A. A., HAEFNER, KENNETH B., KING, ROBERT D., SANZA, PETER C.
Priority to EP91310553A priority patent/EP0535281B1/de
Priority to DE69124694T priority patent/DE69124694T2/de
Priority to JP32971591A priority patent/JP3325032B2/ja
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/26—Automatic controllers electric in which the output signal is a pulse-train
    • G05B11/28—Automatic controllers electric in which the output signal is a pulse-train using pulse-height modulation; using pulse-width modulation

Definitions

  • the present invention relates generally to field-oriented controllers. More particularly, the present invention relates to closed-loop torque feedback for a universal field-oriented controller for an induction machine.
  • UFO universal field-oriented
  • a universal field-oriented (UFO) controller which allows for field-oriented control of induction machines in an arbitrary flux reference frame.
  • the principle of the UFO controller applies to both direct and indirect field orientation. In practice, this allows for the integration of six different field orientation schemes into a single control, i.e., direct and indirect field orientation in rotor flux, air gap flux and stator flux reference frames.
  • a synchronous reference frame is selected by setting the effective stator-to-rotor turns ratio to a predetermined value corresponding thereto. Transitions between reference frames are accomplished by changing the turns ratio. The result is complete decoupling of torque and flux in a flexible, simple and robust drive that is relatively insensitive to machine parameters.
  • U.S. Pat. No. 4,968,925 is incorporated by reference herein.
  • a torque feedback system is employed in a UFO controller for an induction machine to tune a torque-producing current command and a slip frequency command.
  • the direct (d) and quadrature (q) components of flux ⁇ d s and ⁇ q s , respectively, are sensed by flux sensors; and stator phase currents are sensed by current sensors to provide the dq components of current i sd s and i sq s , respectively.
  • Torque is calculated from the sensed flux and current quantities according to the expression: ##EQU1## where p represents the stator pole pair number.
  • the value of torque T em is compared with a torque command, and the resulting corrected torque command is used to tune the current command and the slip frequency command.
  • FIGURE illustrates a UFO controller employing torque feedback in accordance with a preferred embodiment of the present invention.
  • FIGURE illustrates a UFO controller of the type described in De Doncker U.S. Pat. No. 4,968,925, cited hereinabove, with the addition of flux feedback, as described in U.S. patent application Ser. No. 07/769,692, cited hereinabove, and further employing torque feedback in accordance with the present invention.
  • the induction machine equations expressed in an arbitrary synchronous reference frame i linked to an arbitrary flux vector are as follows: ##EQU2## with
  • ⁇ m s angular position of rotor shaft with respect to a fixed stator reference frame
  • ⁇ i s angle from a fixed stator reference to arbitrary reference frame i
  • ⁇ i m angle from the rotor shaft to arbitrary reference frame i;
  • i s: stationary reference frame linked to phase a of the stator windings
  • i t: stator flux synchronous reference frame
  • i i: arbitrary synchronous reference frame
  • i a: synchronous reference frame linked to arbitrary flux vector.
  • the arbitrary reference frame i is linked to an arbitrary flux vector which can be derived from flux linkage equations (3) and (4) above by means of a stator-to-rotor effective turns ratio (a) transformation.
  • the UFO controller of the present invention includes a first torque feedback loop for regulating the torque-producing current command i sq a* .
  • a second torque feedback loop is provided to regulate the slip frequency ⁇ a m* .
  • robust torque control is maintained over a wide speed range and during transitions between modes of operation such as, for example, transitions between a current-controlled PWM mode and a six-stepped square wave mode at the corner point speed of the motor.
  • the torque feedback loop maintains robust control during both direct (DUFO) and indirect (IUFO) field-orientation modes.
  • measurements of the direct (d) and quadrature (q) components of flux, ⁇ d s and ⁇ q s , respectively, are taken from the respective stator phases of an induction motor 10 by a flux sensing means 11; and phase current measurements i s a and i s b are taken by a current sensing means 13.
  • current measurements are shown as being taken from two phases only of a three-phase machine, e.g., phases a and b; however, phase current measurements could be taken from all three phases, if desired.
  • the sensed flux and current quantities are provided to a calculator for field orientation (CFO) 12.
  • CFO 12 quickly and accurately determines the amplitude and angle components of flux from the flux measurements and provides flux amplitude squared feedback ⁇ 2 (or, alternatively, linear flux feedback ⁇ ) in accordance with U.S. patent application Ser. No. 07/769,692. Furthermore, in accordance with the present invention, CFO 12 quickly and accurately determines the induction motor torque T em for use as feedback for tuning the torque-producing current command i sq a* and the slip frequency command ⁇ a m* .
  • Flux sensing means 11 may comprise Hall effect sensors or flux coils to measure flux directly. Alternatively, flux sensing means 11 may calculate flux from measurements of stator voltages and currents in a well-known manner according to: ##EQU4## where R s is the resistance of the respective stator phase winding, V s is the stator voltage, and I s is the respective stator phase current.
  • Current sensing means 13 may comprise any suitable current sensors, such as, for example, Hall effect current sensors, current sensing transformers or current sensing resistors.
  • torque T em is determined by CFO 12 using the sensed flux and current quantities according to the expression: ##EQU5## For example, if phase a is chosen as the reference phase, then the d component of current i sd s is equal to the sensed phase a current; and the q component of current i sq s is determined by the expression: ##EQU6##
  • the torque T em is compared in a summer 15 to the torque command T em * , and the resultant difference signal takes two paths.
  • the difference signal from summer 15 is applied to a proportional-integral (PI) compensator 17.
  • the output signal from PI compensator 17 is added in a summer 19 to the current command i sq a* , which is derived from the torque command T em * by a dividing block 30.
  • the torque-producing current command i sq a* is thereby tuned for robust control in any mode of operation.
  • the difference signal from summer 15 is applied to another PI compensator 21.
  • the output signal from PI compensator 21 is added in a summer 23 to a slip frequency command ⁇ a m* , which is derived from the current command i sq a* via blocks 32 and 34, as described hereinbelow.
  • the slip frequency command ⁇ a m* is thereby tuned for robust control in any mode of operation.
  • a flux command ⁇ s * is squared in a multiplier 14 and then compared by a summer 16 with the flux amplitude squared feedback ⁇ 2 from CFO 12.
  • the resultant error signal is applied to a proportional-integral (PI) compensator 18, the output signal of which is applied to another PI compensator 20 and, via an alternate path, to a summer 22.
  • the output of PI compensator 20 is added to the open loop gain K* of a multiplier 24.
  • PI compensator 20 is set to provide a slow gain change to adapt K* to tune the UFO controller.
  • An expression for the open loop gain is given as follows: ##EQU7## where ##EQU8##
  • the resulting signal K* ⁇ s * is applied to a circuit 26 having the transfer function
  • the signal K* ⁇ s * is also applied, via an alternate path, to a summer 28 wherein it is combined with the direct component of stator current i sd a according to the UFO decoupling equations set forth in De Doncker U.S. Pat. No. 4,968,925, cited hereinabove.
  • the stator current command i sq a* derived from torque command T em * via dividing block 30, is applied to circuit 32 having the transfer function
  • the resulting signal is divided in a divider 34 by the output signal of summer 28 to produce a rotor slip frequency command ⁇ a m* .
  • Stator current command i sq a* is also applied to a multiplier 36 wherein it is multiplied by rotor slip frequency command ⁇ a m* .
  • the output signal of multiplier 36 is added in summer 22 to the aforementioned output signal of circuit 26 and to the output signal from PI compensator 18.
  • PI compensator 18 is set to provide fast flux feedback so that when the open loop gain K* is tuned by slow PI compensator 20, then the output signal from PI compensator 18 is nulled.
  • the output signal from summer 22 is applied to a circuit 40 having the transfer function ##EQU11## which provides the direct component of stator current i sd a .
  • stator current i sd a from circuit 40 and the q-component current command i sq a* are provided to a vector rotator and two-to-three-phase transformation block 42 which transforms the dq coordinates of the stator current vector from an arbitrary synchronous reference frame (linked to an arbitrary flux vector) to a stationary three-phase reference frame, as described in U.S. Pat. No. 4,968,925, cited hereinabove.
  • the output signals from vector rotator block 42 comprise three-phase drive signals for energizing the three phases of a current-regulated pulse-width modulated (CRPWM) inverter 44 to drive the three phases of induction motor 10 in well-known fashion.
  • CCPWM pulse-width modulated
  • shaft position sensing means 46 is used to measure rotor position angle ⁇ m s and further to provide a frequency measurement ⁇ m s .
  • the rotor slip angle command ⁇ a m* is added in a summer 50 to the rotor position signal ⁇ m s from shaft position sensing means 46 to produce a signal representative of the angle ⁇ a s* .
  • the angle ⁇ a s* from summer 50, the slip frequency command ⁇ a s* from dividing block 34, the output signals ⁇ a s* and ⁇ a s* from CFO 12, and the frequency signal ⁇ m s from shaft position sensing means 46 are applied to a DUFO/IUFO selection and transition block 52 for selecting operation in and enabling transitions between DUFO and IUFO modes.
  • the torque feedback system of the present invention compensates for current regulator errors and others errors, such as those introduced by inverter delays.
  • current regulator errors such as those introduced by inverter delays.
  • the current regulator saturates.
  • the torque and flux feedback control of current may saturate, but the torque feedback control of slip frequency takes over and maintains proper control of torque.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Ac Motors In General (AREA)
US07/769,693 1991-10-02 1991-10-02 Closed-loop torque feedback for a universal field-oriented controller Expired - Fee Related US5166593A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US07/769,693 US5166593A (en) 1991-10-02 1991-10-02 Closed-loop torque feedback for a universal field-oriented controller
EP91310553A EP0535281B1 (de) 1991-10-02 1991-11-15 Vorrichtung für ein "nach dem Feldorientierungsprinzip" arbeitendes, universelles Steuerungsgerät eines Induktionsmotors
DE69124694T DE69124694T2 (de) 1991-10-02 1991-11-15 Vorrichtung für ein "nach dem Feldorientierungsprinzip" arbeitendes, universelles Steuerungsgerät eines Induktionsmotors
JP32971591A JP3325032B2 (ja) 1991-10-02 1991-11-20 トルク帰還装置

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US07/769,693 US5166593A (en) 1991-10-02 1991-10-02 Closed-loop torque feedback for a universal field-oriented controller

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EP (1) EP0535281B1 (de)
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DE (1) DE69124694T2 (de)

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5345154A (en) * 1993-02-26 1994-09-06 General Electric Company Electric continuously variable transmission and controls for operation of a heat engine in a closed-loop power-control mode
US5365158A (en) * 1991-11-30 1994-11-15 Kabushiki Kaisha Toshiba Driving control apparatus for induction motor
US5461293A (en) * 1993-05-12 1995-10-24 Sundstrand Corporation Rotor position detector
US5498945A (en) * 1994-04-08 1996-03-12 Ford Motor Company Peak-torque-per-ampere (PTPA) control method for an induction motor
US5610490A (en) * 1995-10-25 1997-03-11 General Electric Company Torque shudder protection device and method
US5719482A (en) * 1995-10-26 1998-02-17 Siemens Aktiengesellschaft Process and device for field-oriented control of a polyphase machine
US5729113A (en) * 1997-01-21 1998-03-17 General Electric Company Sensorless rotor velocity estimation for induction motors
US5734249A (en) * 1996-04-01 1998-03-31 Asea Brown Boveri Ag Method and apparatus for direct torque control of a three-phase machine
US5796236A (en) * 1997-06-30 1998-08-18 Reliance Electric Industrial Company Slip adjuster for use in electrical motor controllers
US5796235A (en) * 1991-04-11 1998-08-18 Schrodl; Manfred Process and circuits for determining machine-related electro-magnetic and mechanical state variables on electrodynamic induction machines supplied via converters
US5798628A (en) * 1995-06-08 1998-08-25 Nippondenso Co., Ltd. Inverter control system which dynamically varies a voltage vector applied to the inverter based on primary flux and torque deviations
US5959430A (en) * 1997-03-07 1999-09-28 Kabushiki Kaisha Toshiba Power conversion system
US6359416B1 (en) * 2000-09-29 2002-03-19 Rockwell Automation Technologies, Inc. Adaptive predictive synchronous current frame regulator method and apparatus
DE10065237A1 (de) * 2000-12-27 2002-07-18 Bosch Gmbh Robert Verfahren und Vorrichtung zur Momentensteuerung oder -regelung eines Elektromotors
DE10063896A1 (de) * 2000-12-21 2002-08-14 Bosch Gmbh Robert Verfahren und Regelkreis zur Regelung eines von einem Elektromotor abgegebenen Moments
US20040070363A1 (en) * 2002-10-10 2004-04-15 Bardsley David J. Integrated induction starter/generator system with hybrid control for high speed generation and idle speed smoothing
US6781333B2 (en) * 2001-05-31 2004-08-24 Toyota Jidosha Kabushiki Kaisha Drive control apparatus and method of alternating current motor
US20050029983A1 (en) * 2003-08-06 2005-02-10 Mijalkovic Milan S. Rotor resistance adaptation for indirect field oriented control of induction machine
US20060066275A1 (en) * 2004-09-29 2006-03-30 Thunes Jerry D Method and apparatus to regulate torque provided to loads
US7023166B1 (en) * 1999-06-24 2006-04-04 Albert Kohen Method for torque control of an induction motor using a voltage controller
US20060273189A1 (en) * 2005-06-07 2006-12-07 Capstan Ag Systems, Inc. Electrically actuated variable pressure control system
US20090237013A1 (en) * 2005-12-08 2009-09-24 Toyota Jidosha Kabushiki Kaisha Control Apparatus and Method for Motor Drive System
US8164293B2 (en) 2009-09-08 2012-04-24 Hoffman Enclosures, Inc. Method of controlling a motor
US8183810B2 (en) 2009-09-08 2012-05-22 Hoffman Enclosures, Inc. Method of operating a motor
US8297369B2 (en) 2009-09-08 2012-10-30 Sta-Rite Industries, Llc Fire-extinguishing system with servo motor-driven foam pump
US20150180396A1 (en) * 2013-12-20 2015-06-25 Baumueller Nuernberg Gmbh Method for open-loop and closed-loop control of an electromagnetic machine
CN112671269A (zh) * 2021-01-07 2021-04-16 中国石油大学(华东) 电磁斥力悬浮装置的悬浮力和转矩的协调控制方法

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FI96371C (fi) * 1994-05-13 1996-06-10 Abb Industry Oy Menetelmä verkkovaihtosuuntaajan kautta siirrettävän tehon säätämiseksi
DE102005049070A1 (de) * 2005-10-13 2007-04-19 Robert Bosch Gmbh Verfahren und Vorrichtung zur feldorientierten Regelung einer Drehfeldmaschine

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US4023083A (en) * 1975-04-14 1977-05-10 General Electric Company Torque regulating induction motor system
US4310791A (en) * 1977-02-01 1982-01-12 Mitsubishi Denki Kabushiki Kaisha Induction motor control system
US4418308A (en) * 1982-08-09 1983-11-29 General Electric Company Scalar decoupled control for an induction machine
US4453116A (en) * 1983-10-05 1984-06-05 General Electric Company Scalar decoupled control for an induction machine using current control
US4707651A (en) * 1986-07-22 1987-11-17 Westinghouse Electric Corp. Voltage-controlled field-oriented induction motor control system
US4885518A (en) * 1987-08-21 1989-12-05 Westinghouse Electric Corp. Induction motor torque/flux control system
US4968925A (en) * 1989-08-07 1990-11-06 General Electric Company Universal field-oriented controller

Cited By (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5796235A (en) * 1991-04-11 1998-08-18 Schrodl; Manfred Process and circuits for determining machine-related electro-magnetic and mechanical state variables on electrodynamic induction machines supplied via converters
US5365158A (en) * 1991-11-30 1994-11-15 Kabushiki Kaisha Toshiba Driving control apparatus for induction motor
US5345154A (en) * 1993-02-26 1994-09-06 General Electric Company Electric continuously variable transmission and controls for operation of a heat engine in a closed-loop power-control mode
US5461293A (en) * 1993-05-12 1995-10-24 Sundstrand Corporation Rotor position detector
US5498945A (en) * 1994-04-08 1996-03-12 Ford Motor Company Peak-torque-per-ampere (PTPA) control method for an induction motor
US5798628A (en) * 1995-06-08 1998-08-25 Nippondenso Co., Ltd. Inverter control system which dynamically varies a voltage vector applied to the inverter based on primary flux and torque deviations
US5610490A (en) * 1995-10-25 1997-03-11 General Electric Company Torque shudder protection device and method
US5719482A (en) * 1995-10-26 1998-02-17 Siemens Aktiengesellschaft Process and device for field-oriented control of a polyphase machine
US5734249A (en) * 1996-04-01 1998-03-31 Asea Brown Boveri Ag Method and apparatus for direct torque control of a three-phase machine
US5729113A (en) * 1997-01-21 1998-03-17 General Electric Company Sensorless rotor velocity estimation for induction motors
US5959430A (en) * 1997-03-07 1999-09-28 Kabushiki Kaisha Toshiba Power conversion system
US5796236A (en) * 1997-06-30 1998-08-18 Reliance Electric Industrial Company Slip adjuster for use in electrical motor controllers
US7023166B1 (en) * 1999-06-24 2006-04-04 Albert Kohen Method for torque control of an induction motor using a voltage controller
US6359416B1 (en) * 2000-09-29 2002-03-19 Rockwell Automation Technologies, Inc. Adaptive predictive synchronous current frame regulator method and apparatus
DE10063896A1 (de) * 2000-12-21 2002-08-14 Bosch Gmbh Robert Verfahren und Regelkreis zur Regelung eines von einem Elektromotor abgegebenen Moments
DE10065237A1 (de) * 2000-12-27 2002-07-18 Bosch Gmbh Robert Verfahren und Vorrichtung zur Momentensteuerung oder -regelung eines Elektromotors
DE10065237B4 (de) * 2000-12-27 2005-07-28 Robert Bosch Gmbh Verfahren und Vorrichtung zur Momentensteuerung oder -regelung eines Elektromotors
US6781333B2 (en) * 2001-05-31 2004-08-24 Toyota Jidosha Kabushiki Kaisha Drive control apparatus and method of alternating current motor
US20040070363A1 (en) * 2002-10-10 2004-04-15 Bardsley David J. Integrated induction starter/generator system with hybrid control for high speed generation and idle speed smoothing
US6870348B2 (en) * 2003-08-06 2005-03-22 General Motors Corporation Rotor resistance adaptation for indirect field oriented control of induction machine
US20050029983A1 (en) * 2003-08-06 2005-02-10 Mijalkovic Milan S. Rotor resistance adaptation for indirect field oriented control of induction machine
US20060066275A1 (en) * 2004-09-29 2006-03-30 Thunes Jerry D Method and apparatus to regulate torque provided to loads
US7095209B2 (en) * 2004-09-29 2006-08-22 Rockwell Automation Technologies, Inc. Method and apparatus to regulate torque provided to loads
US20060273189A1 (en) * 2005-06-07 2006-12-07 Capstan Ag Systems, Inc. Electrically actuated variable pressure control system
US20090237013A1 (en) * 2005-12-08 2009-09-24 Toyota Jidosha Kabushiki Kaisha Control Apparatus and Method for Motor Drive System
US7960930B2 (en) * 2005-12-08 2011-06-14 Toyata Jidosha Kabushiki Kaisha Control apparatus and method for motor drive system
US8164293B2 (en) 2009-09-08 2012-04-24 Hoffman Enclosures, Inc. Method of controlling a motor
US8183810B2 (en) 2009-09-08 2012-05-22 Hoffman Enclosures, Inc. Method of operating a motor
US8297369B2 (en) 2009-09-08 2012-10-30 Sta-Rite Industries, Llc Fire-extinguishing system with servo motor-driven foam pump
US20150180396A1 (en) * 2013-12-20 2015-06-25 Baumueller Nuernberg Gmbh Method for open-loop and closed-loop control of an electromagnetic machine
US9444383B2 (en) * 2013-12-20 2016-09-13 Baumueller Nuernberg Gmbh Method for open-loop and closed-loop control of an electromagnetic machine
CN112671269A (zh) * 2021-01-07 2021-04-16 中国石油大学(华东) 电磁斥力悬浮装置的悬浮力和转矩的协调控制方法
CN112671269B (zh) * 2021-01-07 2022-05-13 中国石油大学(华东) 电磁斥力悬浮装置的悬浮力和转矩的协调控制方法

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DE69124694D1 (de) 1997-03-27
EP0535281A1 (de) 1993-04-07
JP3325032B2 (ja) 2002-09-17
JPH06343283A (ja) 1994-12-13
DE69124694T2 (de) 1997-09-11
EP0535281B1 (de) 1997-02-12

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